相关论文: A Flexible-Frame-Rate Vision-Aided Inertial Object…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Fast and accurate eye tracking in a virtual reality or augmented reality headset could lead to better display performance and enable novel methods of user interaction with the system. However, it remains a challenge for a system to combine…

We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…

Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

Retinal image-based eye tracking is widely used in ophthalmic imaging and vision science, and is a promising path to deliver higher gaze accuracy than the pupil- and cornea-based approaches commonly used in modern AR/VR devices.…

By learning human motion priors, motion capture can be achieved by 6 inertial measurement units (IMUs) in recent years with the development of deep learning techniques, even though the sensor inputs are sparse and noisy. However, human…

The advent of 6G is expected to enable many use cases which may rely on accurate knowledge of the location and orientation of user equipment (UE). The conventional localization methods suffer from limitations such as synchronization and…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

Robust, fast, and accurate human state - 6D pose and posture - estimation remains a challenging problem. For real-world applications, the ability to estimate the human state in real-time is highly desirable. In this paper, we present…

Despite significant advances in improving the gaze tracking accuracy under controlled conditions, the tracking robustness under real-world conditions, such as large head pose and movements, use of eyeglasses, illumination and eye type…

The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…

We propose to estimate 3D human pose from multi-view images and a few IMUs attached at person's limbs. It operates by firstly detecting 2D poses from the two signals, and then lifting them to the 3D space. We present a geometric approach to…

Computer Vision-based natural feature tracking is at the core of modern Augmented Reality applications. Still, Web-based Augmented Reality typically relies on location-based sensing (using GPS and orientation sensors) or marker-based…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…